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Approche numérique pour l’optimisation personnalisée des réglages d’un fauteuil roulant manuel

Abstract : The study of manual wheelchair (MWC) locomotion biomechanics aims at lowering the risk of upper limbs injuries, by optimizing mobility. Several studies have showed that adjusting MWC settings had an impact on MWC mobility. However, the models used in the literature to depict the « user-MWC » and « MWC-floor » interactions had several limitations. Thus, the first aim of this thesis was to develop a musculoskeletal model of the upper limbs allowing to describe the « user-MWC » interaction, by using adapted experimental methods to apply this model. The second aim of the thesis was to implement a mechanical model of the MWC allowing to compute ground reaction forces during locomotion. The final aim of the thesis was to apply a numerical optimisation procedure, including the models developed during the thesis, to optimize MWC settings. The musculoskeletal model developed during the thesis allowed to analyze biomechanics of the upper limbs during MWC locomotion among subjects recruited during experimental sessions. The MWC settings optimization was implemented with the mechanical model developed during the thesis and confirmed the influence of various MWC settings on mobility. Eventually, improvement perspectives for the numerical optimization procedure of MWC settings were explored, based on predictive movement generation with optimal control algorithms.
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Submitted on : Friday, January 31, 2020 - 12:58:11 PM
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  • HAL Id : tel-02462462, version 1


Samuel Hybois. Approche numérique pour l’optimisation personnalisée des réglages d’un fauteuil roulant manuel. Autre [cond-mat.other]. Ecole nationale supérieure d'arts et métiers - ENSAM, 2019. Français. ⟨NNT : 2019ENAM0041⟩. ⟨tel-02462462⟩



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